kpm.h

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/*
 *  kpm.h
 *  artoolkitX
 *
 *  This file is part of artoolkitX.
 *
 *  artoolkitX is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU Lesser General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  artoolkitX is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public License
 *  along with artoolkitX.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  As a special exception, the copyright holders of this library give you
 *  permission to link this library with independent modules to produce an
 *  executable, regardless of the license terms of these independent modules, and to
 *  copy and distribute the resulting executable under terms of your choice,
 *  provided that you also meet, for each linked independent module, the terms and
 *  conditions of the license of that module. An independent module is a module
 *  which is neither derived from nor based on this library. If you modify this
 *  library, you may extend this exception to your version of the library, but you
 *  are not obligated to do so. If you do not wish to do so, delete this exception
 *  statement from your version.
 *
 *  Copyright 2015 Daqri, LLC. All rights reserved.
 *  Copyright 2006-2015 ARToolworks, Inc. All rights reserved.
 *  Author(s): Hirokazu Kato, Philip Lamb
 *
 */
 
#ifndef KPM_H
#define KPM_H
 
#define     BINARY_FEATURE    1
 
#include <ARX/AR/ar.h>
#include <ARX/KPM/kpmType.h>
 
#ifdef __cplusplus
extern "C" {
#endif
    
#ifdef _WIN32
#  ifdef KPM_STATIC
#    define KPM_EXTERN
#  else
#    ifdef ARX_EXPORTS
#      define KPM_EXTERN __declspec(dllexport)
#    else
#      define KPM_EXTERN __declspec(dllimport)
#    endif
#  endif
#else
#  define KPM_EXTERN
#endif
 
#define   KpmPose6DOF            1
#define   KpmPoseHomography      2
 
typedef enum {
    KpmProcFullSize        = 1,
    KpmProcHalfSize        = 2,
    KpmProcQuatSize        = 3,
    KpmProcOneThirdSize    = 4,
    KpmProcTwoThirdSize    = 5
} KPM_PROC_MODE;
#define   KpmDefaultProcMode     KpmProcFullSize
 
#define   KpmCompNull            0
#define   KpmCompX               1
#define   KpmCompY               2
#define   KpmDefaultComp         KpmCompNull
 
#define   KpmChangePageNoAllPages (-1)
 
typedef struct {
    float             x;
    float             y;
} KpmCoord2D;
 
typedef struct {
    int               width;
    int               height;
    int               imageNo;
} KpmImageInfo;
 
typedef struct {
    KpmImageInfo     *imageInfo;
    int               imageNum;
    int               pageNo;
} KpmPageInfo;
 
typedef struct _KpmRefData {
    KpmCoord2D        coord2D;
    KpmCoord2D        coord3D;      // millimetres.
#if BINARY_FEATURE
    FreakFeature      featureVec;
#else
    SurfFeature       featureVec;
#endif
    int               pageNo;
    int               refImageNo;
} KpmRefData;
 
typedef struct {
    KpmRefData       *refPoint;
    int               num;
    KpmPageInfo      *pageInfo;
    int               pageNum;
} KpmRefDataSet;
 
typedef struct {
    KpmCoord2D       *coord;
    int               num;
} KpmInputDataSet;
 
#if !BINARY_FEATURE
typedef struct {
    int               refIndex;
    int               inIndex;
} KpmMatchData;
 
typedef struct {
    KpmMatchData     *match;
    int               num;
} KpmMatchResult;
#endif
 
typedef struct {
    float                     camPose[3][4];
    int                       pageNo;
    float                     error;
    int                       inlierNum;
    int                       camPoseF;
    int                       skipF;
} KpmResult;
 
typedef struct _KpmHandle KpmHandle;
 
 
KPM_EXTERN KpmHandle  *kpmCreateHandle (ARParamLT *cparamLT);
#define     kpmCreatHandle kpmCreateHandle
 
KPM_EXTERN KpmHandle  *kpmCreateHandle2(int xsize, int ysize);
#define     kpmCreatHandle2 kpmCreateHandle2
 
KPM_EXTERN KpmHandle  *kpmCreateHandleHomography(int xsize, int ysize);
#define     kpmCreatHandleHomography kpmCreateHandleHomography
 
KPM_EXTERN int         kpmDeleteHandle( KpmHandle **kpmHandle );
 
KPM_EXTERN int         kpmHandleGetXSize(const KpmHandle *kpmHandle);
KPM_EXTERN int         kpmHandleGetYSize(const KpmHandle *kpmHandle);
    
KPM_EXTERN int         kpmSetProcMode( KpmHandle *kpmHandle, KPM_PROC_MODE  procMode );
KPM_EXTERN int         kpmGetProcMode( KpmHandle *kpmHandle, KPM_PROC_MODE *procMode );
KPM_EXTERN int         kpmSetDetectedFeatureMax( KpmHandle *kpmHandle, int  detectedMaxFeature );
KPM_EXTERN int         kpmGetDetectedFeatureMax( KpmHandle *kpmHandle, int *detectedMaxFeature );
KPM_EXTERN int         kpmSetSurfThreadNum( KpmHandle *kpmHandle, int surfThreadNum );
 
KPM_EXTERN int         kpmSetRefDataSet( KpmHandle *kpmHandle, KpmRefDataSet *refDataSet );
 
KPM_EXTERN int         kpmSetRefDataSetFile( KpmHandle *kpmHandle, const char *filename, const char *ext );
 
KPM_EXTERN int         kpmSetRefDataSetFileOld( KpmHandle *kpmHandle, const char *filename, const char *ext );
 
KPM_EXTERN int         kpmMatching(KpmHandle *kpmHandle, ARUint8 *inImageLuma);
 
KPM_EXTERN int         kpmSetMatchingSkipPage( KpmHandle *kpmHandle, int *skipPages, int num );
#if !BINARY_FEATURE
KPM_EXTERN int         kpmSetMatchingSkipRegion( KpmHandle *kpmHandle, SurfSubRect *skipRegion, int regionNum);
#endif
 
KPM_EXTERN int         kpmGetRefDataSet( KpmHandle *kpmHandle, KpmRefDataSet **refDataSet );
KPM_EXTERN int         kpmGetInDataSet( KpmHandle *kpmHandle, KpmInputDataSet **inDataSet );
#if !BINARY_FEATURE
KPM_EXTERN int         kpmGetMatchingResult( KpmHandle *kpmHandle, KpmMatchResult **preRANSAC, KpmMatchResult **aftRANSAC );
#endif
KPM_EXTERN int         kpmGetPose( KpmHandle *kpmHandle, float  pose[3][4], int *pageNo, float  *error );
KPM_EXTERN int         kpmGetResult( KpmHandle *kpmHandle, KpmResult **result, int *resultNum );
 
 
KPM_EXTERN int         kpmGenRefDataSet ( ARUint8 *refImage, int xsize, int ysize, float  dpi, int procMode, int compMode, int maxFeatureNum,
                               int pageNo, int imageNo, KpmRefDataSet **refDataSet );
KPM_EXTERN int         kpmAddRefDataSet ( ARUint8 *refImage, int xsize, int ysize, float  dpi, int procMode, int compMode, int maxFeatureNum,
                               int pageNo, int imageNo, KpmRefDataSet **refDataSet );
 
KPM_EXTERN int         kpmMergeRefDataSet  ( KpmRefDataSet **refDataSetPtr1, KpmRefDataSet **refDataSetPtr2 );
#define     kpmMargeRefDataSet kpmMergeRefDataSet
    
KPM_EXTERN int         kpmDeleteRefDataSet ( KpmRefDataSet **refDataSetPtr );
 
KPM_EXTERN int         kpmSaveRefDataSet   ( const char *filename, const char *ext, KpmRefDataSet  *refDataSet );
 
KPM_EXTERN int         kpmLoadRefDataSet   ( const char *filename, const char *ext, KpmRefDataSet **refDataSetPtr );
 
KPM_EXTERN int         kpmLoadRefDataSetOld( const char *filename, const char *ext, KpmRefDataSet **refDataSetPtr );
 
KPM_EXTERN int         kpmChangePageNoOfRefDataSet ( KpmRefDataSet *refDataSet, int oldPageNo, int newPageNo );
 
 
KPM_EXTERN ARUint8    *kpmUtilResizeImage( ARUint8 *imageLuma, int xsize, int ysize, int procMode, int *newXsize, int *newYsize );
 
#if !BINARY_FEATURE
KPM_EXTERN int         kpmUtilGetPose ( ARParamLT *cparamLT, KpmMatchResult *matchData, KpmRefDataSet *refDataSet, KpmInputDataSet *inputDataSet, float  camPose[3][4], float  *err );
    
KPM_EXTERN int         kpmUtilGetPose2( ARParamLT *cparamLT, KpmMatchResult *matchData, KpmRefDataSet *refDataSet, int *redDataIndex, KpmInputDataSet *inputDataSet, float  camPose[3][4], float  *error );
KPM_EXTERN int         kpmUtilGetPoseHomography( KpmMatchResult *matchData, KpmRefDataSet *refDataSet, KpmInputDataSet *inputDataSet, float  camPose[3][4], float  *err );
#endif
KPM_EXTERN int         kpmUtilGetCorner( ARUint8 *inImagePtr, int xsize, int ysize, int procMode, int maxPointNum, CornerPoints *cornerPoints );
 
 
double wallclock(void);
    
KPM_EXTERN int kpmLoadImageDb(const char *filename);
    
#ifdef __cplusplus
}
#endif
#endif